多机器人并联协调吊运系统轨迹跟踪控制  

Trajectory Tracking Control of Multi-Robot Parallel Coordinated Towing System

作　　者：梁星星 赵志刚[1] 苏程[1] 叶佳楠 LIANG Xing - xing;ZHAO Zhi - gang;SU Cheng;YE Jia - nan(School of Mechanical Engineering, Lanzhou ]iaotong University, Lanzhou Gansu 730070, Chin)

机构地区：[1]兰州交通大学机电工程学院,甘肃兰州730070

出　　处：《计算机仿真》2018年第4期295-300,共6页Computer Simulation

基　　金：国家自然科学基金资助项目(51265021);教育部科学技术研究重点项目(212184)

摘　　要：多机器人并联协调吊运系统是多输入多输出、强耦合、非线性、大惯性、弱刚度,强时变性的复杂系统,并联柔索不但降低了非线性系统的精度,而且增加了控制的难度。为了实现吊运物的高精度平稳运动控制,针对多机器人并联协调吊运系统进行动力学及轨迹跟踪问题研究。首先,根据欠约束系统的特征,在利用闭环矢量和牛顿-欧拉方程建立了运动学和动力学方程基础上建立了多机器人并联协调吊运系统的误差模型;然后,为了尽快补偿模型误差和外界干扰,通过力-位混合控制策略对吊运物的轨迹进行跟踪控制;最后,分别采用基于BP神经网络的PID控制和基于模糊自调整的免疫PID控制方法对系统进行轨迹跟踪控制,进行MATLAB数值仿真。结果表明,控制策略和方法能够有效实现多机器人并联协调吊运系统的轨迹跟踪,为以后的实现智能控制和实际控制系统奠定了基础。Multi- robot parallel coordination lifting system is a multi -input multi -output, strong coupling, nonlinear, large inertia, weak stiffness, strong time - varying complex system. Parallel - wire not only reduces the accuracy of nonlinear system, but also increases the difficulty of control. In order to achieve high precision motion control, the research on dynamics and trajectory tracking of multi - robot parallel coordinated towing system was car- ried out. First, depending on less restraint system characteristics, closed loop vector and the Newton - Euler equa- tions were used to build kinematics and dynamics equation, and based on that, an under - constraint wire driven par- allel towing system error model was set up. Secondly, in order to compensate the model error and outside interfer- ence, the trajectory tracking control for lifting was carried out with force - position hybrid control strategy. Finally, the trajectory tracking control for the system was carried out through numerical simulation of MATLAB, using the PID control based on BP neural network and the immune PID based on fuzzy self - tuning control method. The results show that the control strategies and methods can effectively implement the trajectory tracking of under - constrainted multi -robot parallel coordinated towing system, which laid the foundation for realization of intelligent control and physical control system.

关 键 词：多机器人 并联协调吊运系统 轨迹跟踪 力-位混合控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]